Visualization systems using structured light

Abstract

A visualization system including multiple light sources, an image sensor configured to detect imaging data from the multiple light sources, and a control circuit is disclosed. At least one of the light sources is configured to emit a pattern of structured light. The control circuit is configured to receive the imaging data from the image sensor, generate a three-dimensional digital representation of the anatomical structure from the pattern of structured light detected by the imaging data, obtain metadata from the imaging data, overlay the metadata on the three-dimensional digital representation, receive updated imaging data from the image sensor, and generate an updated three-dimensional digital representation of the anatomical structure based on the updated imaging data. The visualization system can be communicatively coupled to a situational awareness module configured to determine a surgical scenario based on input signals from multiple surgical devices.

What is claimed is: 
     
       1. A surgical virtualization system comprising:
 an imaging device comprising:
 a first light source configured to emit light in first spectral wavelengths in a first structured light pattern; 
 a second light source configured to emit light in second spectral wavelengths in a second structured light pattern; and 
 a light sensor configured to detect the first structured light pattern and the second structure light pattern of an anatomical structure; 
 
 a user interface comprising:
 a user input device; and 
 an output display; and 
 
 a control circuit comprising one or more processors coupled to at least one memory unit; wherein the control circuit is communicably coupled to the imaging device and the user interface, and wherein the control circuit is configured to:
 receive, from the imaging device, a first signal corresponding to an anatomical structure, and a second signal corresponding to the anatomical structure; 
 identify, from the first and second signals, a critical structure within a predetermined proximity of the anatomical structure; 
 generate a three-dimensional model of the anatomical structure and the critical structure; 
 display the three-dimensional model on the output display; and 
 augment an object within the anatomical structure and render a resultant three-dimensional model. 
 
 
     
     
       2. The surgical virtualization system of  claim 1 , wherein the object is a visual obstruction in a clinician's field of view. 
     
     
       3. The surgical virtualization system of  claim 2 , wherein the object is removed from the anatomical structure of the generated three-dimensional model, and wherein the resultant three-dimensional model image is an interpolation of an unobstructed model of the anatomical structure. 
     
     
       4. The surgical virtualization system of  claim 2 , wherein the object is rendered semi-transparent in the resultant three-dimensional model, and wherein the resultant three-dimensional model is an interpolation of the anatomical structure with the semi-transparent object. 
     
     
       5. The surgical virtualization system of  claim 1 , wherein the user interface enables a clinician to toggle between different views of the anatomical structure, and wherein the different views comprise:
 different angles of the generated three-dimensional model, and different views of the resultant three-dimensional model. 
 
     
     
       6. The surgical virtualization system of  claim 1 , wherein the control circuit is further configured to:
 identify a subject tissue for removal; 
 determine a first resection margin about the subject tissue; 
 recommend an adjusted resection margin based on the identified critical structure; and 
 render the three-dimensional model of the anatomical structure with the subject tissue, the critical structure, and the first resection margin or the adjusted resection margin. 
 
     
     
       7. The surgical virtualization system of  claim 6 , wherein a clinician can toggle a view on the output display between the first resection margin and the adjusted resection margin. 
     
     
       8. The surgical virtualization system of  claim 6 , wherein the control circuit is configured to:
 receive an instruction associated with parameters of a surgical procedure; and wherein the adjusted resection margin is determined based on the instruction associated with the parameters of the surgical procedure. 
 
     
     
       9. A method for generating and augmenting a three-dimensional model of an anatomical structure comprising:
 receiving, from an imaging device, a first signal corresponding to an anatomical structure, and a second signal corresponding to the anatomical structure; 
 identifying, from the first and second signals, a critical structure within a predetermined proximity of the anatomical structure; 
 generating a three-dimensional model of the anatomical structure and the critical structure; 
 displaying the three-dimensional model on an output display; and 
 augmenting an object within the anatomical structure and rendering a resultant three-dimensional model. 
 
     
     
       10. The method of  claim 9 , wherein the object is a visual obstruction in a clinician's field of view. 
     
     
       11. The method of  claim 10 , wherein the object is removed from the anatomical structure of the generated three-dimensional model, and wherein the resultant three-dimensional model is an interpolation of an unobstructed model of the anatomical structure. 
     
     
       12. The method of  claim 10 , wherein the object is rendered semi-transparent in the resultant three-dimensional model, and wherein the resultant three-dimensional model is an interpolation of the anatomical structure with the semi-transparent object. 
     
     
       13. The method of  claim 9 , wherein a user interface enables a clinician to toggle between different views of the anatomical structure, and wherein the different views comprise:
 different angles of the generated three-dimensional model, and different views of the resultant three-dimensional model. 
 
     
     
       14. The method of  claim 9 , further comprising:
 identifying a subject tissue for removal; 
 determining a first resection margin about the subject tissue; 
 recommending an adjusted resection margin based on the identified critical structure; and 
 rendering the three-dimensional model of the anatomical structure with the subject tissue, the critical structure, and the first resection margin or the adjusted resection margin. 
 
     
     
       15. The method of  claim 14 , wherein a clinician can toggle a view on the output display between the first resection margin and the adjusted resection margin. 
     
     
       16. The method of  claim 14 , further comprising:
 receiving an instruction associated with parameters of a surgical procedure, and wherein the adjusted resection margin is determined based on the instruction associated with the parameters of the surgical procedure. 
 
     
     
       17. A non-transitory computer readable medium comprising instructions stored thereon, when executed by one or more processors, perform operations comprising:
 receiving, from an imaging device, a first signal corresponding to an anatomical structure, and a second signal corresponding to the anatomical structure; 
 identifying, from the first and second signals, a critical structure within a predetermined proximity of the anatomical structure; 
 generating a three-dimensional model of the anatomical structure and the critical structure; 
 displaying the three-dimensional model on an output display; and 
 augmenting an object within the anatomical structure and rendering a resultant three-dimensional model. 
 
     
     
       18. The non-transitory computer readable medium of  claim 17 , wherein the object is a visual obstruction in a clinician's field of view. 
     
     
       19. The non-transitory computer readable medium of  claim 18 , wherein the object is removed from the anatomical structure of the generated three-dimensional model, and wherein the resultant three-dimensional model is an interpolation of an unobstructed model of the anatomical structure. 
     
     
       20. The non-transitory computer readable medium of  claim 18 , wherein the object is rendered semi-transparent in the resultant three-dimensional model, and wherein the resultant three-dimensional model is an interpolation of the anatomical structure with the semi-transparent object. 
     
     
       21. The non-transitory computer readable medium of  claim 17 , wherein a user interface enables a clinician to toggle between different views of the anatomical structure, and where the different views comprise:
 different angles of the generated three-dimensional model, and different views of the resultant three-dimensional model. 
 
     
     
       22. The non-transitory computer readable medium of  claim 17 , further comprising instructions stored thereon, when executed by one or more processors, perform operations comprising:
 identifying a subject tissue for removal; 
 determining a first resection margin about the subject tissue; 
 recommending an adjusted resection margin based on the identified critical structure; and 
 rendering the three-dimensional model of the anatomical structure with the subject tissue, the critical structure, and the first resection margin or the adjusted resection margin. 
 
     
     
       23. The non-transitory computer readable medium of  claim 22 , wherein a clinician can toggle a view on the output display between the first resection margin and the adjusted resection margin. 
     
     
       24. The non-transitory computer readable medium of  claim 22 , further comprising instructions stored thereon, when executed by one or more processors, perform operations comprising:
 receive an instruction associated with parameters of a surgical procedure; and wherein the adjusted resection margin is determined based on the instruction associated with the parameters of the surgical procedure.